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Revenue Recognition - Change in Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Revenue from Contract with Customer [Abstract]    
Balance as of January 1 $ 283.9 $ 268.3
Revenue recognized (20.0) (15.2)
Revenue deferred 25.2 17.9
Balance as of March 31 $ 289.1 $ 271.0